The goal of robot formation control is to control each robot using local information from neighboring agents so that the entire team forms a desired spatial geometric pattern [1]}. A special instance of formation control with numerous applications is rigid formations. Two cases of rigid formation control have been widely studied in the literature, namely distance rigidity and bearing rigidity. Rigidity theory, a branch of discrete mathematics, explores under what conditions can the geometric pattern of a network be determined given that the length (distance) or bearing of each edge in a network of nodes is fixed. This theory has been applied in distance and bearing formation control and localization problems [2]}, [3]}, [4]}, [5]}, [6]}, [7]}, [8]}.
